An apparatus includes at least two tanks, at least two pumps, at least one nozzle, and a chuck. In this way, a service provider andor an advertiser can transmit a single advertisement to all the television stations regardless of their geographic location and other user specific information, and need not re-transmit the advertisement even if there is a change in the show’s program description. The device of the present invention not only provides venous drainage for cardiopulmonary bypass, but also performs the function of routing cardioplegic solution through the heart in the retrograde direction. The bypass logic causes input data items to bypass the FIFO and to go straight to the buffers when the buffers are able to receive data items and the FIFO queue is empty. This invention is also directed to pharmaceutical compositions comprising analogs of TOFA and a pharmaceutically acceptable excipient for dermatological or oral administration. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.